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Dynamic analysis of flexible-link and flexible-joint robots

โœ Scribed by Ding-guo Zhang; Sheng-feng Zhou

Publisher
Springer
Year
2006
Tongue
English
Weight
241 KB
Volume
27
Category
Article
ISSN
0253-4827

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An economical adaptive controller is presented for flexible joint robots with arbitrary joint stiffness. It does not necessarily require the time derivatives of the regressor matrix while still providing stable closed-loop tracking performance.